import numpy as np
import mujoco
import mujoco.viewer as viewer

xmlModel = """
<mujoco>
  <worldbody>
    <geom name="red_box" type="box" pos="0 0 0" size=".2 .2 .2" rgba="1 0 0 1"/>
    <geom name="blue_sphere" pos=".2 .2 .2" size = ".1" rgba="0 0 1 1"/>
  </worldbody>
</mujoco>
"""

model = mujoco.MjModel.from_xml_string(xmlModel)
data = mujoco.MjData(model)
viewer.launch(model, data)



